diff --git a/Tools/ArdupilotMegaPlanner/ArduCopterConfig.xml b/Tools/ArdupilotMegaPlanner/ArduCopterConfig.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e90fae40cfe29cd13e042a768ec38068277fe659
--- /dev/null
+++ b/Tools/ArdupilotMegaPlanner/ArduCopterConfig.xml
@@ -0,0 +1,205 @@
+<?xml version="1.0" encoding="utf-8" ?>
+<AC>
+ <Item>
+ <HEAD>Stabilization:</HEAD>
+ <SUBHEAD>Angular Rate Control:</SUBHEAD>
+ <DESC>How much throttle is applied to rotate the copter at the desired speed.
+
+Adjust P by motor size
+Small: P = 0.145
+Med: P = 0.110
+Large: P = 0.090</DESC>
+ <FIELDS>
+ <FIELD>
+ <NAME>P</NAME>
+ <PARAMNAME>RATE_RLL_P</PARAMNAME>
+ <PARAMNAME>RATE_PIT_P</PARAMNAME>
+ <RANGEMIN>0.001</RANGEMIN>
+ <RANGEMAX>5</RANGEMAX>
+ <STEP>0.001</STEP>
+ </FIELD>
+ <FIELD>
+ <NAME>I</NAME>
+ <PARAMNAME>RATE_RLL_I</PARAMNAME>
+ <PARAMNAME>RATE_PIT_I</PARAMNAME>
+ <RANGEMIN>0</RANGEMIN>
+ <RANGEMAX>5</RANGEMAX>
+ <STEP>0.001</STEP>
+ </FIELD>
+ <FIELD>
+ <NAME>D</NAME>
+ <PARAMNAME>RATE_RLL_D</PARAMNAME>
+ <PARAMNAME>RATE_PIT_D</PARAMNAME>
+ <RANGEMIN>0</RANGEMIN>
+ <RANGEMAX>5</RANGEMAX>
+ <STEP>0.001</STEP>
+ </FIELD>
+ <FIELD>
+ <NAME>IMAX</NAME>
+ <PARAMNAME>RATE_RLL_IMAX</PARAMNAME>
+ <PARAMNAME>RATE_PIT_IMAX</PARAMNAME>
+ <RANGEMIN>0</RANGEMIN>
+ <RANGEMAX>40</RANGEMAX>
+ <STEP>0.1</STEP>
+ </FIELD>
+ </FIELDS>
+ <SUBHEAD>Dampening:</SUBHEAD>
+ <DESC>Resistance to angular acceleration
+
+A dynamic gain is applied so that the dampening only occurs at 100% when the control sticks are centered.
+
+When the sticks are fully deflected:
+1.0 = 0%
+0.5 = 50%
+0.0 = 100%</DESC>
+ <FIELDS>
+ <FIELD>
+ <NAME>Dampen</NAME>
+ <PARAMNAME>STAB_D</PARAMNAME>
+ <RANGEMIN>0.001</RANGEMIN>
+ <RANGEMAX>5</RANGEMAX>
+ <STEP>0.001</STEP>
+ </FIELD>
+ <FIELD>
+ <NAME>Dynamic</NAME>
+ <PARAMNAME>STAB_D_S</PARAMNAME>
+ <RANGEMIN>0.001</RANGEMIN>
+ <RANGEMAX>1</RANGEMAX>
+ <STEP>0.001</STEP>
+ </FIELD>
+ </FIELDS>
+
+ <SUBHEAD>Stabilize Control:</SUBHEAD>
+ <DESC>
+How fast the copter reacts to user or autopilot input.
+Higher = more aggressive control.
+Too high = slow wobbles
+ </DESC>
+ <FIELDS>
+ <FIELD>
+ <NAME>P</NAME>
+ <PARAMNAME>STB_RLL_P</PARAMNAME>
+ <PARAMNAME>STB_PIT_P</PARAMNAME>
+ <RANGEMIN>0.001</RANGEMIN>
+ <RANGEMAX>5</RANGEMAX>
+ <STEP>0.001</STEP>
+ </FIELD>
+ <FIELD>
+ <NAME>I</NAME>
+ <PARAMNAME>STB_RLL_I</PARAMNAME>
+ <PARAMNAME>STB_PIT_I</PARAMNAME>
+ <RANGEMIN>0</RANGEMIN>
+ <RANGEMAX>5</RANGEMAX>
+ <STEP>0.001</STEP>
+ </FIELD>
+ <FIELD>
+ <NAME>IMAX</NAME>
+ <PARAMNAME>STB_RLL_IMAX</PARAMNAME>
+ <PARAMNAME>STB_PIT_IMAX</PARAMNAME>
+ <RANGEMIN>0</RANGEMIN>
+ <RANGEMAX>50</RANGEMAX>
+ <STEP>0.001</STEP>
+ </FIELD>
+ </FIELDS>
+ </Item>
+ <!-- Loiter -->
+ <Item>
+ <HEAD>Loiter:</HEAD>
+ <SUBHEAD>Angular Rate Control:</SUBHEAD>
+ <DESC>
+How much angle is applied to make the copter accelerate to the desired speed.
+ </DESC>
+ <FIELDS>
+ <FIELD>
+ <NAME>P</NAME>
+ <PARAMNAME>LOITER_LAT_P</PARAMNAME>
+ <PARAMNAME>LOITER_LON_P</PARAMNAME>
+ <RANGEMIN>0.001</RANGEMIN>
+ <RANGEMAX>5</RANGEMAX>
+ <STEP>0.001</STEP>
+ </FIELD>
+ <FIELD>
+ <NAME>I</NAME>
+ <PARAMNAME>LOITER_LAT_I</PARAMNAME>
+ <PARAMNAME>LOITER_LON_I</PARAMNAME>
+ <RANGEMIN>0</RANGEMIN>
+ <RANGEMAX>5</RANGEMAX>
+ <STEP>0.001</STEP>
+ </FIELD>
+ <FIELD>
+ <NAME>D</NAME>
+ <PARAMNAME>LOITER_LAT_D</PARAMNAME>
+ <PARAMNAME>LOITER_LON_D</PARAMNAME>
+ <RANGEMIN>0</RANGEMIN>
+ <RANGEMAX>5</RANGEMAX>
+ <STEP>0.001</STEP>
+ </FIELD>
+ <FIELD>
+ <NAME>IMAX</NAME>
+ <PARAMNAME>LOITER_LAT_IMAX</PARAMNAME>
+ <PARAMNAME>LOITER_LON_IMAX</PARAMNAME>
+ <RANGEMIN>0</RANGEMIN>
+ <RANGEMAX>50</RANGEMAX>
+ <STEP>0.1</STEP>
+ </FIELD>
+ </FIELDS>
+ <SUBHEAD>Loiter Speed:</SUBHEAD>
+ <DESC>
+How fast the copter should move towards the target. A larger value means a faster return to center, but can cause the copter to oscillate around the target.
+
+A distance error of 100cm * P of .25 = 25 cm/s
+ </DESC>
+ <FIELDS>
+ <FIELD>
+ <NAME>P</NAME>
+ <PARAMNAME>HLD_LAT_P</PARAMNAME>
+ <PARAMNAME>HLD_LON_P</PARAMNAME>
+ <RANGEMIN>0.001</RANGEMIN>
+ <RANGEMAX>5</RANGEMAX>
+ <STEP>0.001</STEP>
+ </FIELD>
+ </FIELDS>
+ </Item>
+ <!-- WP Nav -->
+ <Item>
+ <HEAD>WP Navigation:</HEAD>
+ <SUBHEAD>Nav Rate Control:</SUBHEAD>
+ <DESC>
+ How much angle is applied to make the copter accelerate to the desired speed.
+ </DESC>
+ <FIELDS>
+ <FIELD>
+ <NAME>P</NAME>
+ <PARAMNAME>NAV_LAT_P</PARAMNAME>
+ <PARAMNAME>NAV_LON_P</PARAMNAME>
+ <RANGEMIN>0.001</RANGEMIN>
+ <RANGEMAX>5</RANGEMAX>
+ <STEP>0.001</STEP>
+ </FIELD>
+ <FIELD>
+ <NAME>I</NAME>
+ <PARAMNAME>NAV_LAT_I</PARAMNAME>
+ <PARAMNAME>NAV_LON_I</PARAMNAME>
+ <RANGEMIN>0</RANGEMIN>
+ <RANGEMAX>5</RANGEMAX>
+ <STEP>0.001</STEP>
+ </FIELD>
+ <FIELD>
+ <NAME>D</NAME>
+ <PARAMNAME>NAV_LAT_D</PARAMNAME>
+ <PARAMNAME>NAV_LON_D</PARAMNAME>
+ <RANGEMIN>0</RANGEMIN>
+ <RANGEMAX>5</RANGEMAX>
+ <STEP>0.001</STEP>
+ </FIELD>
+ <FIELD>
+ <NAME>IMAX</NAME>
+ <PARAMNAME>NAV_LAT_IMAX</PARAMNAME>
+ <PARAMNAME>NAV_LON_IMAX</PARAMNAME>
+ <RANGEMIN>0</RANGEMIN>
+ <RANGEMAX>50</RANGEMAX>
+ <STEP>0.1</STEP>
+ </FIELD>
+ </FIELDS>
+ </Item>
+</AC>
diff --git a/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj b/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj
index a465ce36630a92cc1264db25aa277ea2b26e94af..2be3e91e80d7eb96fc0390046ff551e284238162 100644
--- a/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj
+++ b/Tools/ArdupilotMegaPlanner/ArdupilotMega.csproj
@@ -238,7 +238,16 @@
<Compile Include="Controls\BackstageView\BackStageViewMenuPanel.cs">
<SubType>Component</SubType>
</Compile>
+ <Compile Include="Controls\ConfigPanel.cs">
+ <SubType>Form</SubType>
+ </Compile>
+ <Compile Include="Controls\ConfigPanel.Designer.cs">
+ <DependentUpon>ConfigPanel.cs</DependentUpon>
+ </Compile>
<Compile Include="Controls\CustomMessageBox.cs" />
+ <Compile Include="Controls\LineSeparator.cs">
+ <SubType>UserControl</SubType>
+ </Compile>
<Compile Include="Controls\ProgressReporterDialogue.cs">
<SubType>Form</SubType>
</Compile>
@@ -537,6 +546,9 @@
<EmbeddedResource Include="Controls\BackstageView\BackstageView.resx">
<DependentUpon>BackstageView.cs</DependentUpon>
</EmbeddedResource>
+ <EmbeddedResource Include="Controls\ConfigPanel.resx">
+ <DependentUpon>ConfigPanel.cs</DependentUpon>
+ </EmbeddedResource>
<EmbeddedResource Include="Controls\ProgressReporterDialogue.resx">
<DependentUpon>ProgressReporterDialogue.cs</DependentUpon>
</EmbeddedResource>
@@ -1047,6 +1059,9 @@
</ItemGroup>
<ItemGroup>
<Content Include="apm2.ico" />
+ <Content Include="ArduCopterConfig.xml">
+ <CopyToOutputDirectory>Always</CopyToOutputDirectory>
+ </Content>
<Content Include="Driver\Arduino MEGA 2560.inf">
<CopyToOutputDirectory>Always</CopyToOutputDirectory>
</Content>
diff --git a/Tools/ArdupilotMegaPlanner/Controls/ConfigPanel.Designer.cs b/Tools/ArdupilotMegaPlanner/Controls/ConfigPanel.Designer.cs
new file mode 100644
index 0000000000000000000000000000000000000000..201222a2c957ff9b275f433a8653e03025700c86
--- /dev/null
+++ b/Tools/ArdupilotMegaPlanner/Controls/ConfigPanel.Designer.cs
@@ -0,0 +1,47 @@
+namespace ArdupilotMega.Controls
+{
+ partial class ConfigPanel
+ {
+ /// <summary>
+ /// Required designer variable.
+ /// </summary>
+ private System.ComponentModel.IContainer components = null;
+
+ /// <summary>
+ /// Clean up any resources being used.
+ /// </summary>
+ /// <param name="disposing">true if managed resources should be disposed; otherwise, false.</param>
+ protected override void Dispose(bool disposing)
+ {
+ if (disposing && (components != null))
+ {
+ components.Dispose();
+ }
+ base.Dispose(disposing);
+ }
+
+ #region Component Designer generated code
+
+ /// <summary>
+ /// Required method for Designer support - do not modify
+ /// the contents of this method with the code editor.
+ /// </summary>
+ private void InitializeComponent()
+ {
+ this.SuspendLayout();
+ //
+ // ConfigPanel
+ //
+ this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
+ this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
+ this.AutoScroll = true;
+ this.ClientSize = new System.Drawing.Size(642, 454);
+ this.Name = "ConfigPanel";
+ this.Load += new System.EventHandler(this.ConfigPanel_Load);
+ this.ResumeLayout(false);
+
+ }
+
+ #endregion
+ }
+}
diff --git a/Tools/ArdupilotMegaPlanner/Controls/ConfigPanel.cs b/Tools/ArdupilotMegaPlanner/Controls/ConfigPanel.cs
new file mode 100644
index 0000000000000000000000000000000000000000..6e33d77c35c8ab15b3660b3c57785808e82f40ab
--- /dev/null
+++ b/Tools/ArdupilotMegaPlanner/Controls/ConfigPanel.cs
@@ -0,0 +1,319 @@
+using System;
+using System.Collections.Generic;
+using System.Collections;
+using System.ComponentModel;
+using System.Drawing;
+using System.Data;
+using System.Linq;
+using System.Text;
+using System.Windows.Forms;
+using System.Xml;
+
+namespace ArdupilotMega.Controls
+{
+ public partial class ConfigPanel : Form
+ {
+ /// <summary>
+ /// store tempory pending changes
+ /// </summary>
+ Hashtable _changed = new Hashtable();
+ // store linked param options
+ Hashtable _linkedParams = new Hashtable();
+
+ public ConfigPanel()
+ {
+ InitializeComponent();
+ }
+
+ /// <summary>
+ /// fill numeric up down boxs with there value
+ /// </summary>
+ public void PopulateData()
+ {
+ // process hashdefines and update display
+ foreach (string value in MainV2.comPort.param.Keys)
+ {
+ Control[] text = this.Controls.Find(value, true);
+ foreach (Control ctl in text)
+ {
+ try
+ {
+ NumericUpDown thisctl = ((NumericUpDown)ctl);
+ thisctl.Value = (decimal)(float)MainV2.comPort.param[value];
+ thisctl.Enabled = true;
+ thisctl.Validated += new EventHandler(thisctl_Validated);
+ }
+ catch (Exception ex) { Console.WriteLine(ex.ToString()); }
+ }
+ }
+ }
+
+ void thisctl_Validated(object sender, EventArgs e)
+ {
+ string param = ((NumericUpDown)sender).Name;
+
+ ((Control)sender).BackColor = Color.Green;
+
+ foreach (string item in (List<string>)_linkedParams[param])
+ {
+ _changed[item] = (float)((NumericUpDown)sender).Value;
+ }
+ }
+
+ /// <summary>
+ /// disables all NumericUpDown box's
+ /// </summary>
+ /// <param name="inctl"></param>
+ void disableNumericUpDownControls(Control inctl)
+ {
+ foreach (Control ctl in inctl.Controls)
+ {
+ if (ctl.Controls.Count > 0)
+ {
+ disableNumericUpDownControls(ctl);
+ }
+ if (ctl.GetType() == typeof(NumericUpDown))
+ {
+ ctl.Enabled = false;
+ }
+ }
+ }
+
+ /// <summary>
+ /// The template xml for the screen
+ /// </summary>
+ /// <param name="FileName"></param>
+ public void LoadXML(string FileName)
+ {
+ int x = 20;
+ int y = 0;
+
+ int optionx = 300;
+ int optiony = 0;
+
+ string name = "";
+ List<string> paramname = new List<string>();
+ double rangemin = 0;
+ double rangemax = 10;
+ double step = 0.001;
+
+ using (XmlReader reader = XmlReader.Create(FileName))
+ {
+ while (reader.Read())
+ {
+ switch (reader.Name.ToUpper())
+ {
+ case "ITEM":
+
+ break;
+ case "HEAD":
+ y += 30;
+ string heading = reader.ReadString();
+
+ Label lbl = new Label();
+ lbl.AutoSize = true;
+ lbl.Text = heading;
+ lbl.Location = new Point(x,y);
+ lbl.Font = new Font(FontFamily.GenericSansSerif, 15,FontStyle.Bold);
+
+ this.Controls.Add(lbl);
+
+ MyButton but = new MyButton();
+
+ but.Text = "Save";
+ but.Location = new Point(optionx + 100, y);
+ but.Click += new EventHandler(but_Click);
+ this.Controls.Add(but);
+
+ y = lbl.Location.Y + lbl.Height + 10;
+
+ LineSeparator ls = new LineSeparator();
+
+ ls.Width = this.Width - 40;
+ ls.Location = new Point(x,y);
+
+ ls.Anchor = AnchorStyles.Top | AnchorStyles.Left | AnchorStyles.Right;
+
+ this.Controls.Add(ls);
+
+ y = ls.Location.Y + ls.Height;
+
+ break;
+ case "SUBHEAD":
+ y += 15;
+
+ optiony = y;
+ optionx = 300;
+ string subhead = reader.ReadString();
+
+ Label lbl2 = new Label();
+ lbl2.AutoSize = true;
+ lbl2.Text = subhead;
+ lbl2.Location = new Point(x,y);
+ lbl2.Font = new Font(FontFamily.GenericSansSerif, 10, FontStyle.Bold);
+
+ this.Controls.Add(lbl2);
+
+ y = lbl2.Location.Y + lbl2.Height;
+
+ break;
+ case "DESC":
+ y += 2;
+ string desc = reader.ReadString();
+
+ Label lbl3 = new Label();
+ lbl3.AutoSize = true;
+ lbl3.Text = AddNewLinesToText(desc);
+ lbl3.Location = new Point(x,y);
+ lbl3.Font = new Font(FontFamily.GenericSansSerif, 8, FontStyle.Bold);
+
+ this.Controls.Add(lbl3);
+
+ y = lbl3.Location.Y + lbl3.Height;
+
+ break;
+ case "FIELDS":
+ if (reader.NodeType == XmlNodeType.EndElement)
+ {
+ if (optiony > y)
+ y = optiony;
+ }
+ break;
+ case "FIELD":
+ if (reader.NodeType == XmlNodeType.EndElement)
+ {
+ if (name == "" || paramname.Count == 0)
+ break;
+
+ Label lbl5 = new Label();
+ //lbl5.AutoSize = true;
+ lbl5.Text = name;
+ lbl5.Location = new Point(optionx, optiony);
+ lbl5.Size = new System.Drawing.Size(90,20);
+ lbl5.Font = new Font(FontFamily.GenericSansSerif, 8, FontStyle.Bold);
+ lbl5.TextAlign = ContentAlignment.MiddleRight;
+
+ this.Controls.Add(lbl5);
+
+ NumericUpDown nud = new NumericUpDown();
+ nud.Location = new Point(optionx + 100, optiony);
+ nud.Size = new System.Drawing.Size(78,20);
+ nud.Maximum = (decimal)rangemax;
+ nud.Minimum = (decimal)rangemin;
+ nud.Increment = (decimal)step;
+ nud.DecimalPlaces = (int)(step.ToString().Length - step.ToString(new System.Globalization.CultureInfo("en-US")).IndexOf('.') - 1);
+ nud.Name = paramname[0];
+
+ this.Controls.Add(nud);
+
+ optiony += nud.Height;
+
+ _linkedParams[paramname[0]] = paramname;
+
+ }
+ else
+ {
+ name = "";
+ paramname = new List<string>();
+ rangemax = 10;
+ rangemin = 0;
+ step = 0.001;
+ }
+ break;
+ case "NAME":
+ name = reader.ReadString();
+ break;
+ case "PARAMNAME":
+ paramname.Add(reader.ReadString());
+ break;
+ case "RANGEMIN":
+ rangemin = double.Parse(reader.ReadString(), new System.Globalization.CultureInfo("en-US"));
+ break;
+ case "RANGEMAX":
+ rangemax = double.Parse(reader.ReadString(), new System.Globalization.CultureInfo("en-US"));
+ break;
+ case "STEP":
+ step = double.Parse(reader.ReadString(), new System.Globalization.CultureInfo("en-US"));
+ break;
+
+ }
+ }
+ }
+
+ ThemeManager.ApplyThemeTo(this);
+
+ disableNumericUpDownControls(this);
+ }
+
+ void but_Click(object sender, EventArgs e)
+ {
+
+ Hashtable temp = (Hashtable)_changed.Clone();
+
+ foreach (string value in temp.Keys)
+ {
+ try
+ {
+ MainV2.comPort.setParam(value, (float)_changed[value]);
+ _changed.Remove(value);
+
+ try
+ {
+ // un green control as well
+ Control[] text = this.Controls.Find(value, true);
+ if (text.Length > 0)
+ {
+ ((Control)text[0]).BackColor = Color.FromArgb(0x43, 0x44, 0x45);
+ }
+ }
+ catch { }
+ }
+ catch { CustomMessageBox.Show("Set " + value + " Failed"); }
+ }
+ }
+
+ // from http://stackoverflow.com/questions/2512781/winforms-big-paragraph-tooltip/2512895#2512895
+ private static int maximumSingleLineTooltipLength = 40;
+
+ private static string AddNewLinesToText(string text)
+ {
+ if (text.Length < maximumSingleLineTooltipLength)
+ return text;
+ int lineLength = maximumSingleLineTooltipLength;
+ StringBuilder sb = new StringBuilder();
+ int currentLinePosition = 0;
+ for (int textIndex = 0; textIndex < text.Length; textIndex++)
+ {
+ // If we have reached the target line length and the next
+ // character is whitespace then begin a new line.
+ if (currentLinePosition >= lineLength &&
+ char.IsWhiteSpace(text[textIndex]))
+ {
+ sb.Append(Environment.NewLine);
+ currentLinePosition = 0;
+ }
+ // reset line lnegth counter on existing new line
+ if (text[textIndex] == Environment.NewLine[Environment.NewLine.Length - 1])
+ {
+ currentLinePosition = 1;
+ // skip space at line start
+ if (textIndex == 0)
+ currentLinePosition = 0;
+ }
+ // If we have just started a new line, skip all the whitespace.
+ if (currentLinePosition == 0)
+ while (textIndex < text.Length && char.IsWhiteSpace(text[textIndex]))
+ textIndex++;
+ // Append the next character.
+ if (textIndex < text.Length) sb.Append(text[textIndex]);
+ currentLinePosition++;
+ }
+ return sb.ToString();
+ }
+
+ private void ConfigPanel_Load(object sender, EventArgs e)
+ {
+ PopulateData();
+ }
+ }
+}
\ No newline at end of file
diff --git a/Tools/ArdupilotMegaPlanner/Controls/ConfigPanel.resx b/Tools/ArdupilotMegaPlanner/Controls/ConfigPanel.resx
new file mode 100644
index 0000000000000000000000000000000000000000..7080a7d118e8cd7ec668e9bb0d8e90767e0c7a3c
--- /dev/null
+++ b/Tools/ArdupilotMegaPlanner/Controls/ConfigPanel.resx
@@ -0,0 +1,120 @@
+<?xml version="1.0" encoding="utf-8"?>
+<root>
+ <!--
+ Microsoft ResX Schema
+
+ Version 2.0
+
+ The primary goals of this format is to allow a simple XML format
+ that is mostly human readable. The generation and parsing of the
+ various data types are done through the TypeConverter classes
+ associated with the data types.
+
+ Example:
+
+ ... ado.net/XML headers & schema ...
+ <resheader name="resmimetype">text/microsoft-resx</resheader>
+ <resheader name="version">2.0</resheader>
+ <resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
+ <resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
+ <data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
+ <data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
+ <data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
+ <value>[base64 mime encoded serialized .NET Framework object]</value>
+ </data>
+ <data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+ <value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
+ <comment>This is a comment</comment>
+ </data>
+
+ There are any number of "resheader" rows that contain simple
+ name/value pairs.
+
+ Each data row contains a name, and value. The row also contains a
+ type or mimetype. Type corresponds to a .NET class that support
+ text/value conversion through the TypeConverter architecture.
+ Classes that don't support this are serialized and stored with the
+ mimetype set.
+
+ The mimetype is used for serialized objects, and tells the
+ ResXResourceReader how to depersist the object. This is currently not
+ extensible. For a given mimetype the value must be set accordingly:
+
+ Note - application/x-microsoft.net.object.binary.base64 is the format
+ that the ResXResourceWriter will generate, however the reader can
+ read any of the formats listed below.
+
+ mimetype: application/x-microsoft.net.object.binary.base64
+ value : The object must be serialized with
+ : System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
+ : and then encoded with base64 encoding.
+
+ mimetype: application/x-microsoft.net.object.soap.base64
+ value : The object must be serialized with
+ : System.Runtime.Serialization.Formatters.Soap.SoapFormatter
+ : and then encoded with base64 encoding.
+
+ mimetype: application/x-microsoft.net.object.bytearray.base64
+ value : The object must be serialized into a byte array
+ : using a System.ComponentModel.TypeConverter
+ : and then encoded with base64 encoding.
+ -->
+ <xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
+ <xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
+ <xsd:element name="root" msdata:IsDataSet="true">
+ <xsd:complexType>
+ <xsd:choice maxOccurs="unbounded">
+ <xsd:element name="metadata">
+ <xsd:complexType>
+ <xsd:sequence>
+ <xsd:element name="value" type="xsd:string" minOccurs="0" />
+ </xsd:sequence>
+ <xsd:attribute name="name" use="required" type="xsd:string" />
+ <xsd:attribute name="type" type="xsd:string" />
+ <xsd:attribute name="mimetype" type="xsd:string" />
+ <xsd:attribute ref="xml:space" />
+ </xsd:complexType>
+ </xsd:element>
+ <xsd:element name="assembly">
+ <xsd:complexType>
+ <xsd:attribute name="alias" type="xsd:string" />
+ <xsd:attribute name="name" type="xsd:string" />
+ </xsd:complexType>
+ </xsd:element>
+ <xsd:element name="data">
+ <xsd:complexType>
+ <xsd:sequence>
+ <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+ <xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
+ </xsd:sequence>
+ <xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
+ <xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
+ <xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
+ <xsd:attribute ref="xml:space" />
+ </xsd:complexType>
+ </xsd:element>
+ <xsd:element name="resheader">
+ <xsd:complexType>
+ <xsd:sequence>
+ <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+ </xsd:sequence>
+ <xsd:attribute name="name" type="xsd:string" use="required" />
+ </xsd:complexType>
+ </xsd:element>
+ </xsd:choice>
+ </xsd:complexType>
+ </xsd:element>
+ </xsd:schema>
+ <resheader name="resmimetype">
+ <value>text/microsoft-resx</value>
+ </resheader>
+ <resheader name="version">
+ <value>2.0</value>
+ </resheader>
+ <resheader name="reader">
+ <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+ </resheader>
+ <resheader name="writer">
+ <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+ </resheader>
+</root>
\ No newline at end of file
diff --git a/Tools/ArdupilotMegaPlanner/Controls/CustomMessageBox.cs b/Tools/ArdupilotMegaPlanner/Controls/CustomMessageBox.cs
index 4a8b4c0f1bb25eb5e3a10194e8339216ebd8b4bd..47efdabef849db598793c19d59a7b8c0ac0746d9 100644
--- a/Tools/ArdupilotMegaPlanner/Controls/CustomMessageBox.cs
+++ b/Tools/ArdupilotMegaPlanner/Controls/CustomMessageBox.cs
@@ -144,7 +144,7 @@ namespace System.Windows.Forms
// reset line lnegth counter on existing new line
if (text[textIndex] == Environment.NewLine[Environment.NewLine.Length -1])
{
- currentLinePosition = 0;
+ currentLinePosition = 1;
}
// If we have just started a new line, skip all the whitespace.
if (currentLinePosition == 0)
diff --git a/Tools/ArdupilotMegaPlanner/Controls/LineSeparator.cs b/Tools/ArdupilotMegaPlanner/Controls/LineSeparator.cs
new file mode 100644
index 0000000000000000000000000000000000000000..9e9002a87557157c36075af36c3707c7924b9ca4
--- /dev/null
+++ b/Tools/ArdupilotMegaPlanner/Controls/LineSeparator.cs
@@ -0,0 +1,52 @@
+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Drawing;
+using System.Data;
+using System.Linq;
+using System.Text;
+using System.Windows.Forms;
+
+
+public partial class LineSeparator : UserControl
+{
+
+
+
+
+ public LineSeparator()
+ {
+ this.Height = 2;
+
+ this.Paint += new PaintEventHandler(LineSeparator_Paint);
+
+
+ this.MaximumSize = new Size(2000, 2);
+
+
+ this.MinimumSize = new Size(0, 2);
+
+ //this.Width = 350;
+
+ }
+
+
+ private void LineSeparator_Paint(object sender, PaintEventArgs e)
+ {
+
+
+
+
+ Graphics g = e.Graphics;
+
+ g.DrawLine(
+
+ Pens.DarkGray, new Point(0, 0), new Point(this.Width, 0));
+
+ g.DrawLine(
+
+ Pens.White, new Point(0, 1), new Point(this.Width, 1));
+
+ }
+
+}
diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigArducopter.Designer.cs b/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigArducopter.Designer.cs
index 767aeb4a6f5906d525366944ad75cfe73e9cb280..f34863ea5491cb090b249f1597d9d80b9f2abe51 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigArducopter.Designer.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/ConfigurationView/ConfigArducopter.Designer.cs
@@ -1071,6 +1071,7 @@
//
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
+ this.AutoScroll = true;
this.Controls.Add(this.myLabel3);
this.Controls.Add(this.TUNE_LOW);
this.Controls.Add(this.TUNE_HIGH);
@@ -1091,7 +1092,7 @@
this.Controls.Add(this.groupBox24);
this.Controls.Add(this.groupBox25);
this.Name = "ConfigArducopter";
- this.Size = new System.Drawing.Size(728, 393);
+ this.Size = new System.Drawing.Size(728, 529);
this.Load += new System.EventHandler(this.ConfigArducopter_Load);
((System.ComponentModel.ISupportInitialize)(this.TUNE_LOW)).EndInit();
((System.ComponentModel.ISupportInitialize)(this.TUNE_HIGH)).EndInit();
diff --git a/Tools/ArdupilotMegaPlanner/MainV2.cs b/Tools/ArdupilotMegaPlanner/MainV2.cs
index 5ec4ebab68e9c0e9558198bc34af2f251a24ab24..4a68586990c2a13182207e5f2d4fa415c6103492 100644
--- a/Tools/ArdupilotMegaPlanner/MainV2.cs
+++ b/Tools/ArdupilotMegaPlanner/MainV2.cs
@@ -1912,9 +1912,13 @@ namespace ArdupilotMega
}
if (keyData == (Keys.Control | Keys.W)) // test
{
- Form frm = new GCSViews.ConfigurationView.Configuration();
- ThemeManager.ApplyThemeTo(frm);
- frm.Show();
+
+ Controls.ConfigPanel cfg = new Controls.ConfigPanel();
+
+ cfg.LoadXML("ArduCopterConfig.xml");
+
+ cfg.ShowDialog();
+
return true;
}
if (keyData == (Keys.Control | Keys.T)) // for override connect
diff --git a/Tools/ArdupilotMegaPlanner/Msi/installer.wxs b/Tools/ArdupilotMegaPlanner/Msi/installer.wxs
index 57a77bc3413053ecd81ab3052b966ccec8c7dac7..a03d29139f4d7ada6972ba7c308aa05333127fbb 100644
--- a/Tools/ArdupilotMegaPlanner/Msi/installer.wxs
+++ b/Tools/ArdupilotMegaPlanner/Msi/installer.wxs
@@ -2,14 +2,14 @@
<Wix xmlns="http://schemas.microsoft.com/wix/2006/wi" xmlns:netfx="http://schemas.microsoft.com/wix/NetFxExtension" xmlns:difx="http://schemas.microsoft.com/wix/DifxAppExtension">
- <Product Id="*" Name="APM Planner" Language="1033" Version="1.1.63" Manufacturer="Michael Oborne" UpgradeCode="{625389D7-EB3C-4d77-A5F6-A285CF99437D}">
+ <Product Id="*" Name="APM Planner" Language="1033" Version="1.1.64" Manufacturer="Michael Oborne" UpgradeCode="{625389D7-EB3C-4d77-A5F6-A285CF99437D}">
<Package Description="APM Planner Installer" Comments="Apm Planner Installer" Manufacturer="Michael Oborne" InstallerVersion="200" Compressed="yes" />
<Upgrade Id="{625389D7-EB3C-4d77-A5F6-A285CF99437D}">
- <UpgradeVersion OnlyDetect="yes" Minimum="1.1.63" Property="NEWERVERSIONDETECTED" IncludeMinimum="no" />
- <UpgradeVersion OnlyDetect="no" Maximum="1.1.63" Property="OLDERVERSIONBEINGUPGRADED" IncludeMaximum="no" />
+ <UpgradeVersion OnlyDetect="yes" Minimum="1.1.64" Property="NEWERVERSIONDETECTED" IncludeMinimum="no" />
+ <UpgradeVersion OnlyDetect="no" Maximum="1.1.64" Property="OLDERVERSIONBEINGUPGRADED" IncludeMaximum="no" />
</Upgrade>
<InstallExecuteSequence>
@@ -31,221 +31,224 @@
<Permission User="Everyone" GenericAll="yes" />
</CreateFolder>
</Component>
-<Component Id="_comp1" Guid="a070a228-42fe-4bbc-a8f4-ca37bedc8aff">
+<Component Id="_comp1" Guid="dba8d621-643a-42b5-a947-bf317799d98f">
<File Id="_2" Source="..\bin\release\AeroSimRCAPMHil.zip" />
<File Id="_3" Source="..\bin\release\alglibnet2.dll" />
<File Id="_4" Source="..\bin\release\ArduCopter-sitl.exe" />
<File Id="_5" Source="..\bin\release\arducopter-xplane.zip" />
<File Id="_6" Source="..\bin\release\ArduCopter.exe" />
-<File Id="_7" Source="..\bin\release\ArdupilotMegaPlanner.exe" />
-<File Id="_8" Source="..\bin\release\ArdupilotMegaPlanner.exe.config" />
-<File Id="_9" Source="..\bin\release\ArdupilotMegaPlanner.pdb" />
-<File Id="_10" Source="..\bin\release\ArduPlane-sitl.exe" />
-<File Id="_11" Source="..\bin\release\ArduPlane.exe" />
-<File Id="_12" Source="..\bin\release\block_plane_0.dae" />
-<File Id="_13" Source="..\bin\release\BSE.Windows.Forms.dll" />
-<File Id="_14" Source="..\bin\release\Core.dll" />
-<File Id="_15" Source="..\bin\release\cygwin1.dll" />
-<File Id="_16" Source="..\bin\release\dataflashlog.xml" />
-<File Id="_17" Source="..\bin\release\DirectShowLib-2005.dll" />
-<File Id="_18" Source="..\bin\release\eeprom.bin" />
-<File Id="_19" Source="..\bin\release\GMap.NET.Core.dll" />
-<File Id="_20" Source="..\bin\release\GMap.NET.WindowsForms.dll" />
-<File Id="_21" Source="..\bin\release\hud.html" />
-<File Id="_22" Source="..\bin\release\ICSharpCode.SharpZipLib.dll" />
-<File Id="_23" Source="..\bin\release\Ionic.Zip.Reduced.dll" />
-<File Id="_24" Source="..\bin\release\IronPython.dll" />
-<File Id="_25" Source="..\bin\release\IronPython.Modules.dll" />
-<File Id="_26" Source="..\bin\release\JSBSim.exe" />
-<File Id="_27" Source="..\bin\release\KMLib.dll" />
-<File Id="_28" Source="..\bin\release\log4net.dll" />
-<File Id="_29" Source="..\bin\release\mavcmd.xml" />
-<File Id="_30" Source="..\bin\release\MAVLink.xml" />
-<File Id="_31" Source="..\bin\release\MetaDataExtractor.dll" />
-<File Id="_32" Source="..\bin\release\Microsoft.DirectX.DirectInput.dll" />
-<File Id="_33" Source="..\bin\release\Microsoft.DirectX.dll" />
-<File Id="_34" Source="..\bin\release\Microsoft.Dynamic.dll" />
-<File Id="_35" Source="..\bin\release\Microsoft.Scripting.Core.dll" />
-<File Id="_36" Source="..\bin\release\Microsoft.Scripting.Debugging.dll" />
-<File Id="_37" Source="..\bin\release\Microsoft.Scripting.dll" />
-<File Id="_38" Source="..\bin\release\Microsoft.Scripting.ExtensionAttribute.dll" />
-<File Id="_39" Source="..\bin\release\netDxf.dll" />
-<File Id="_40" Source="..\bin\release\OpenTK.dll" />
-<File Id="_41" Source="..\bin\release\OpenTK.GLControl.dll" />
-<File Id="_42" Source="..\bin\release\quadhil.xml" />
-<File Id="_43" Source="..\bin\release\serialsent.raw" />
-<File Id="_44" Source="..\bin\release\SharpKml.dll" />
-<File Id="_45" Source="..\bin\release\System.Data.SQLite.dll" />
-<File Id="_46" Source="..\bin\release\System.Speech.dll" />
-<File Id="_47" Source="..\bin\release\Updater.exe" />
-<File Id="_48" Source="..\bin\release\Updater.exe.config" />
-<File Id="_49" Source="..\bin\release\Updater.pdb" />
-<File Id="_50" Source="..\bin\release\version.exe" />
-<File Id="_51" Source="..\bin\release\version.txt" />
-<File Id="_52" Source="..\bin\release\ZedGraph.dll" />
+<File Id="_7" Source="..\bin\release\ArduinoCPP.exe" />
+<File Id="_8" Source="..\bin\release\ArduinoCPP.exe.config" />
+<File Id="_9" Source="..\bin\release\ArduinoCPP.pdb" />
+<File Id="_10" Source="..\bin\release\ArdupilotMegaPlanner.exe" />
+<File Id="_11" Source="..\bin\release\ArdupilotMegaPlanner.exe.config" />
+<File Id="_12" Source="..\bin\release\ArdupilotMegaPlanner.pdb" />
+<File Id="_13" Source="..\bin\release\ArduPlane-sitl.exe" />
+<File Id="_14" Source="..\bin\release\ArduPlane.exe" />
+<File Id="_15" Source="..\bin\release\block_plane_0.dae" />
+<File Id="_16" Source="..\bin\release\BSE.Windows.Forms.dll" />
+<File Id="_17" Source="..\bin\release\Core.dll" />
+<File Id="_18" Source="..\bin\release\cygwin1.dll" />
+<File Id="_19" Source="..\bin\release\dataflashlog.xml" />
+<File Id="_20" Source="..\bin\release\DirectShowLib-2005.dll" />
+<File Id="_21" Source="..\bin\release\eeprom.bin" />
+<File Id="_22" Source="..\bin\release\GMap.NET.Core.dll" />
+<File Id="_23" Source="..\bin\release\GMap.NET.WindowsForms.dll" />
+<File Id="_24" Source="..\bin\release\hud.html" />
+<File Id="_25" Source="..\bin\release\ICSharpCode.SharpZipLib.dll" />
+<File Id="_26" Source="..\bin\release\Ionic.Zip.Reduced.dll" />
+<File Id="_27" Source="..\bin\release\IronPython.dll" />
+<File Id="_28" Source="..\bin\release\IronPython.Modules.dll" />
+<File Id="_29" Source="..\bin\release\JSBSim.exe" />
+<File Id="_30" Source="..\bin\release\KMLib.dll" />
+<File Id="_31" Source="..\bin\release\log4net.dll" />
+<File Id="_32" Source="..\bin\release\mavcmd.xml" />
+<File Id="_33" Source="..\bin\release\MAVLink.xml" />
+<File Id="_34" Source="..\bin\release\MetaDataExtractor.dll" />
+<File Id="_35" Source="..\bin\release\Microsoft.DirectX.DirectInput.dll" />
+<File Id="_36" Source="..\bin\release\Microsoft.DirectX.dll" />
+<File Id="_37" Source="..\bin\release\Microsoft.Dynamic.dll" />
+<File Id="_38" Source="..\bin\release\Microsoft.Scripting.Core.dll" />
+<File Id="_39" Source="..\bin\release\Microsoft.Scripting.Debugging.dll" />
+<File Id="_40" Source="..\bin\release\Microsoft.Scripting.dll" />
+<File Id="_41" Source="..\bin\release\Microsoft.Scripting.ExtensionAttribute.dll" />
+<File Id="_42" Source="..\bin\release\netDxf.dll" />
+<File Id="_43" Source="..\bin\release\OpenTK.dll" />
+<File Id="_44" Source="..\bin\release\OpenTK.GLControl.dll" />
+<File Id="_45" Source="..\bin\release\quadhil.xml" />
+<File Id="_46" Source="..\bin\release\serialsent.raw" />
+<File Id="_47" Source="..\bin\release\SharpKml.dll" />
+<File Id="_48" Source="..\bin\release\System.Data.SQLite.dll" />
+<File Id="_49" Source="..\bin\release\System.Speech.dll" />
+<File Id="_50" Source="..\bin\release\Updater.exe" />
+<File Id="_51" Source="..\bin\release\Updater.exe.config" />
+<File Id="_52" Source="..\bin\release\Updater.pdb" />
+<File Id="_53" Source="..\bin\release\version.exe" />
+<File Id="_54" Source="..\bin\release\version.txt" />
+<File Id="_55" Source="..\bin\release\ZedGraph.dll" />
</Component>
-<Directory Id="aircraft52" Name="aircraft">
-<Component Id="_comp53" Guid="31143d1e-1968-4907-9471-4e01422f9e78">
-<File Id="_54" Source="..\bin\release\aircraft\placeholder.txt" />
+<Directory Id="aircraft55" Name="aircraft">
+<Component Id="_comp56" Guid="45b138a8-2f48-4508-9edc-e6688532247a">
+<File Id="_57" Source="..\bin\release\aircraft\placeholder.txt" />
</Component>
-<Directory Id="arducopter54" Name="arducopter">
-<Component Id="_comp55" Guid="fbb61931-3ae2-4df5-86ef-3468717fccbc">
-<File Id="_56" Source="..\bin\release\aircraft\arducopter\arducopter-set.xml" />
-<File Id="_57" Source="..\bin\release\aircraft\arducopter\arducopter.jpg" />
-<File Id="_58" Source="..\bin\release\aircraft\arducopter\arducopter.xml" />
-<File Id="_59" Source="..\bin\release\aircraft\arducopter\initfile.xml" />
-<File Id="_60" Source="..\bin\release\aircraft\arducopter\plus_quad2-set.xml" />
-<File Id="_61" Source="..\bin\release\aircraft\arducopter\plus_quad2.xml" />
-<File Id="_62" Source="..\bin\release\aircraft\arducopter\quad.nas" />
-<File Id="_63" Source="..\bin\release\aircraft\arducopter\README" />
+<Directory Id="arducopter57" Name="arducopter">
+<Component Id="_comp58" Guid="f084a180-18c9-41f6-8070-ae26bf831d1e">
+<File Id="_59" Source="..\bin\release\aircraft\arducopter\arducopter-set.xml" />
+<File Id="_60" Source="..\bin\release\aircraft\arducopter\arducopter.jpg" />
+<File Id="_61" Source="..\bin\release\aircraft\arducopter\arducopter.xml" />
+<File Id="_62" Source="..\bin\release\aircraft\arducopter\initfile.xml" />
+<File Id="_63" Source="..\bin\release\aircraft\arducopter\plus_quad2-set.xml" />
+<File Id="_64" Source="..\bin\release\aircraft\arducopter\plus_quad2.xml" />
+<File Id="_65" Source="..\bin\release\aircraft\arducopter\quad.nas" />
+<File Id="_66" Source="..\bin\release\aircraft\arducopter\README" />
</Component>
-<Directory Id="data63" Name="data">
-<Component Id="_comp64" Guid="183432fe-1b80-4bdc-bdba-e938d240dc25">
-<File Id="_65" Source="..\bin\release\aircraft\arducopter\data\arducopter_half_step.txt" />
-<File Id="_66" Source="..\bin\release\aircraft\arducopter\data\arducopter_step.txt" />
-<File Id="_67" Source="..\bin\release\aircraft\arducopter\data\rw_generic_pylon.ac" />
+<Directory Id="data66" Name="data">
+<Component Id="_comp67" Guid="5dee70d9-d900-4409-bf27-2430cc6220d4">
+<File Id="_68" Source="..\bin\release\aircraft\arducopter\data\arducopter_half_step.txt" />
+<File Id="_69" Source="..\bin\release\aircraft\arducopter\data\arducopter_step.txt" />
+<File Id="_70" Source="..\bin\release\aircraft\arducopter\data\rw_generic_pylon.ac" />
</Component>
</Directory>
-<Directory Id="Engines67" Name="Engines">
-<Component Id="_comp68" Guid="792df9a4-582f-47d9-b2b6-4115108c7a30">
-<File Id="_69" Source="..\bin\release\aircraft\arducopter\Engines\a2830-12.xml" />
-<File Id="_70" Source="..\bin\release\aircraft\arducopter\Engines\prop10x4.5.xml" />
+<Directory Id="Engines70" Name="Engines">
+<Component Id="_comp71" Guid="bac95eb2-9cf0-452b-8c29-a4ab162de973">
+<File Id="_72" Source="..\bin\release\aircraft\arducopter\Engines\a2830-12.xml" />
+<File Id="_73" Source="..\bin\release\aircraft\arducopter\Engines\prop10x4.5.xml" />
</Component>
</Directory>
-<Directory Id="Models70" Name="Models">
-<Component Id="_comp71" Guid="dc93e1a8-4de1-42c4-b1fd-0a672efa9915">
-<File Id="_72" Source="..\bin\release\aircraft\arducopter\Models\arducopter.ac" />
-<File Id="_73" Source="..\bin\release\aircraft\arducopter\Models\arducopter.xml" />
-<File Id="_74" Source="..\bin\release\aircraft\arducopter\Models\plus_quad.ac" />
-<File Id="_75" Source="..\bin\release\aircraft\arducopter\Models\plus_quad2.ac" />
-<File Id="_76" Source="..\bin\release\aircraft\arducopter\Models\plus_quad2.xml" />
-<File Id="_77" Source="..\bin\release\aircraft\arducopter\Models\quad.3ds" />
-<File Id="_78" Source="..\bin\release\aircraft\arducopter\Models\shareware_output.3ds" />
-<File Id="_79" Source="..\bin\release\aircraft\arducopter\Models\Untitled.ac" />
-<File Id="_80" Source="..\bin\release\aircraft\arducopter\Models\Y6_test.ac" />
+<Directory Id="Models73" Name="Models">
+<Component Id="_comp74" Guid="14cf59a2-751c-4329-83f2-094a85d80f21">
+<File Id="_75" Source="..\bin\release\aircraft\arducopter\Models\arducopter.ac" />
+<File Id="_76" Source="..\bin\release\aircraft\arducopter\Models\arducopter.xml" />
+<File Id="_77" Source="..\bin\release\aircraft\arducopter\Models\plus_quad.ac" />
+<File Id="_78" Source="..\bin\release\aircraft\arducopter\Models\plus_quad2.ac" />
+<File Id="_79" Source="..\bin\release\aircraft\arducopter\Models\plus_quad2.xml" />
+<File Id="_80" Source="..\bin\release\aircraft\arducopter\Models\quad.3ds" />
+<File Id="_81" Source="..\bin\release\aircraft\arducopter\Models\shareware_output.3ds" />
+<File Id="_82" Source="..\bin\release\aircraft\arducopter\Models\Untitled.ac" />
+<File Id="_83" Source="..\bin\release\aircraft\arducopter\Models\Y6_test.ac" />
</Component>
</Directory>
</Directory>
-<Directory Id="Rascal80" Name="Rascal">
-<Component Id="_comp81" Guid="0c6a286d-d878-41cd-9868-3e45a61f32d8">
-<File Id="_82" Source="..\bin\release\aircraft\Rascal\Rascal-keyboard.xml" />
-<File Id="_83" Source="..\bin\release\aircraft\Rascal\Rascal-submodels.xml" />
-<File Id="_84" Source="..\bin\release\aircraft\Rascal\Rascal.xml" />
-<File Id="_85" Source="..\bin\release\aircraft\Rascal\Rascal110-JSBSim-set.xml" />
-<File Id="_86" Source="..\bin\release\aircraft\Rascal\Rascal110-JSBSim.xml" />
-<File Id="_87" Source="..\bin\release\aircraft\Rascal\Rascal110-splash.rgb" />
-<File Id="_88" Source="..\bin\release\aircraft\Rascal\README.Rascal" />
-<File Id="_89" Source="..\bin\release\aircraft\Rascal\reset_CMAC.xml" />
-<File Id="_90" Source="..\bin\release\aircraft\Rascal\thumbnail.jpg" />
+<Directory Id="Rascal83" Name="Rascal">
+<Component Id="_comp84" Guid="957d112f-a39e-4619-a8a1-e66281fe43b9">
+<File Id="_85" Source="..\bin\release\aircraft\Rascal\Rascal-keyboard.xml" />
+<File Id="_86" Source="..\bin\release\aircraft\Rascal\Rascal-submodels.xml" />
+<File Id="_87" Source="..\bin\release\aircraft\Rascal\Rascal.xml" />
+<File Id="_88" Source="..\bin\release\aircraft\Rascal\Rascal110-JSBSim-set.xml" />
+<File Id="_89" Source="..\bin\release\aircraft\Rascal\Rascal110-JSBSim.xml" />
+<File Id="_90" Source="..\bin\release\aircraft\Rascal\Rascal110-splash.rgb" />
+<File Id="_91" Source="..\bin\release\aircraft\Rascal\README.Rascal" />
+<File Id="_92" Source="..\bin\release\aircraft\Rascal\reset_CMAC.xml" />
+<File Id="_93" Source="..\bin\release\aircraft\Rascal\thumbnail.jpg" />
</Component>
-<Directory Id="Dialogs90" Name="Dialogs">
-<Component Id="_comp91" Guid="e89bdaf0-fd13-447f-93a4-29ccdc33bf20">
-<File Id="_92" Source="..\bin\release\aircraft\Rascal\Dialogs\config.xml" />
-<File Id="_93" Source="..\bin\release\aircraft\Rascal\Dialogs\config.xml.new" />
+<Directory Id="Dialogs93" Name="Dialogs">
+<Component Id="_comp94" Guid="96a657ee-49de-494b-85d6-277b72a81d51">
+<File Id="_95" Source="..\bin\release\aircraft\Rascal\Dialogs\config.xml" />
+<File Id="_96" Source="..\bin\release\aircraft\Rascal\Dialogs\config.xml.new" />
</Component>
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-<File Id="_123" Source="..\bin\release\aircraft\Rascal\Systems\ugear.nas" />
+<Directory Id="Systems116" Name="Systems">
+<Component Id="_comp117" Guid="59ed6ff3-352f-4846-b737-f5a37ae497ed">
+<File Id="_118" Source="..\bin\release\aircraft\Rascal\Systems\110-autopilot.xml" />
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</Directory>
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-<File Id="_125" Source="..\bin\release\Driver\Arduino MEGA 2560.inf" />
-<File Id="_126" Source="..\bin\release\Driver\Arduino MEGA 2560.inf.new" />
+<Directory Id="Driver126" Name="Driver">
+<Component Id="_comp127" Guid="d9776466-be68-424f-b076-ef3fb4766362">
+<File Id="_128" Source="..\bin\release\Driver\Arduino MEGA 2560.inf" />
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</Directory>
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-<File Id="_128" Source="..\bin\release\es-ES\ArdupilotMegaPlanner.resources.dll" />
+<Directory Id="es_ES129" Name="es-ES">
+<Component Id="_comp130" Guid="1fb42ff8-9e61-49b3-a3c3-b3ecbfaf2d5f">
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</Component>
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-<File Id="_130" Source="..\bin\release\fr\ArdupilotMegaPlanner.resources.dll" />
+<Directory Id="fr131" Name="fr">
+<Component Id="_comp132" Guid="aa277d0f-e449-4838-95a4-b8caba929e73">
+<File Id="_133" Source="..\bin\release\fr\ArdupilotMegaPlanner.resources.dll" />
</Component>
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-<File Id="_132" Source="..\bin\release\it-IT\ArdupilotMegaPlanner.resources.dll" />
+<Directory Id="it_IT133" Name="it-IT">
+<Component Id="_comp134" Guid="32fba21d-c610-4d07-8740-60a5956ed784">
+<File Id="_135" Source="..\bin\release\it-IT\ArdupilotMegaPlanner.resources.dll" />
</Component>
</Directory>
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-<File Id="_134" Source="..\bin\release\jsbsim\fgout.xml" />
-<File Id="_135" Source="..\bin\release\jsbsim\rascal_test.xml" />
+<Directory Id="jsbsim135" Name="jsbsim">
+<Component Id="_comp136" Guid="d6eb33b4-51c0-4e8e-bcbd-b719ebade3f4">
+<File Id="_137" Source="..\bin\release\jsbsim\fgout.xml" />
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</Component>
</Directory>
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-<File Id="_139" Source="..\bin\release\m3u\map.m3u" />
-<File Id="_140" Source="..\bin\release\m3u\networklink.kml" />
+<Directory Id="m3u138" Name="m3u">
+<Component Id="_comp139" Guid="629b2aa0-faf6-4bba-81bc-a624c7b9b27b">
+<File Id="_140" Source="..\bin\release\m3u\both.m3u" />
+<File Id="_141" Source="..\bin\release\m3u\hud.m3u" />
+<File Id="_142" Source="..\bin\release\m3u\map.m3u" />
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</Component>
</Directory>
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-<File Id="_142" Source="..\bin\release\pl\ArdupilotMegaPlanner.resources.dll" />
+<Directory Id="pl143" Name="pl">
+<Component Id="_comp144" Guid="552d60e0-5755-49b4-bca3-73ff0a8f345a">
+<File Id="_145" Source="..\bin\release\pl\ArdupilotMegaPlanner.resources.dll" />
</Component>
</Directory>
-<Directory Id="Resources142" Name="Resources">
-<Component Id="_comp143" Guid="d21a5a27-ddd7-4825-ae98-5792cc08710b">
-<File Id="_144" Source="..\bin\release\Resources\MAVCmd.txt" />
-<File Id="_145" Source="..\bin\release\Resources\MAVCmd.txt.new" />
-<File Id="_146" Source="..\bin\release\Resources\Welcome_to_Michael_Oborne.rtf" />
-<File Id="_147" Source="..\bin\release\Resources\Welcome_to_Michael_Oborne.rtf.new" />
+<Directory Id="Resources145" Name="Resources">
+<Component Id="_comp146" Guid="d0b46c4b-4222-441b-8c57-6dea9513559e">
+<File Id="_147" Source="..\bin\release\Resources\MAVCmd.txt" />
+<File Id="_148" Source="..\bin\release\Resources\MAVCmd.txt.new" />
+<File Id="_149" Source="..\bin\release\Resources\Welcome_to_Michael_Oborne.rtf" />
+<File Id="_150" Source="..\bin\release\Resources\Welcome_to_Michael_Oborne.rtf.new" />
</Component>
</Directory>
-<Directory Id="ru_RU147" Name="ru-RU">
-<Component Id="_comp148" Guid="4e5d3a70-4402-4105-9f33-327de86cce09">
-<File Id="_149" Source="..\bin\release\ru-RU\ArdupilotMegaPlanner.resources.dll" />
+<Directory Id="ru_RU150" Name="ru-RU">
+<Component Id="_comp151" Guid="964ca3d0-1802-4a4b-ba4b-2e6c1b1ab626">
+<File Id="_152" Source="..\bin\release\ru-RU\ArdupilotMegaPlanner.resources.dll" />
</Component>
</Directory>
-<Directory Id="zh_Hans149" Name="zh-Hans">
-<Component Id="_comp150" Guid="bccb1a8a-580a-421d-9e00-5db6aa4f12fe">
-<File Id="_151" Source="..\bin\release\zh-Hans\ArdupilotMegaPlanner.resources.dll" />
+<Directory Id="zh_Hans152" Name="zh-Hans">
+<Component Id="_comp153" Guid="363b03dc-9b08-428c-80c9-711f08487df4">
+<File Id="_154" Source="..\bin\release\zh-Hans\ArdupilotMegaPlanner.resources.dll" />
</Component>
</Directory>
-<Directory Id="zh_TW151" Name="zh-TW">
-<Component Id="_comp152" Guid="d7f3228d-4e9f-472c-8c74-0b0ccaed830a">
-<File Id="_153" Source="..\bin\release\zh-TW\ArdupilotMegaPlanner.resources.dll" />
+<Directory Id="zh_TW154" Name="zh-TW">
+<Component Id="_comp155" Guid="728fc93e-de0e-4229-94a7-672d48bfb8c2">
+<File Id="_156" Source="..\bin\release\zh-TW\ArdupilotMegaPlanner.resources.dll" />
</Component>
</Directory>
@@ -287,27 +290,27 @@
<ComponentRef Id="InstallDirPermissions" />
<ComponentRef Id="_comp1" />
-<ComponentRef Id="_comp53" />
-<ComponentRef Id="_comp55" />
-<ComponentRef Id="_comp64" />
-<ComponentRef Id="_comp68" />
+<ComponentRef Id="_comp56" />
+<ComponentRef Id="_comp58" />
+<ComponentRef Id="_comp67" />
<ComponentRef Id="_comp71" />
-<ComponentRef Id="_comp81" />
-<ComponentRef Id="_comp91" />
+<ComponentRef Id="_comp74" />
+<ComponentRef Id="_comp84" />
<ComponentRef Id="_comp94" />
-<ComponentRef Id="_comp99" />
-<ComponentRef Id="_comp114" />
-<ComponentRef Id="_comp124" />
+<ComponentRef Id="_comp97" />
+<ComponentRef Id="_comp102" />
+<ComponentRef Id="_comp117" />
<ComponentRef Id="_comp127" />
-<ComponentRef Id="_comp129" />
-<ComponentRef Id="_comp131" />
-<ComponentRef Id="_comp133" />
+<ComponentRef Id="_comp130" />
+<ComponentRef Id="_comp132" />
+<ComponentRef Id="_comp134" />
<ComponentRef Id="_comp136" />
-<ComponentRef Id="_comp141" />
-<ComponentRef Id="_comp143" />
-<ComponentRef Id="_comp148" />
-<ComponentRef Id="_comp150" />
-<ComponentRef Id="_comp152" />
+<ComponentRef Id="_comp139" />
+<ComponentRef Id="_comp144" />
+<ComponentRef Id="_comp146" />
+<ComponentRef Id="_comp151" />
+<ComponentRef Id="_comp153" />
+<ComponentRef Id="_comp155" />
<ComponentRef Id="ApplicationShortcut" />
@@ -328,7 +331,7 @@
<Property Id="WIXUI_EXITDIALOGOPTIONALCHECKBOXTEXT" Value="Launch APM Planner" />
<!-- Step 3: Include the custom action -->
- <Property Id="WixShellExecTarget" Value="[#_7]" />
+ <Property Id="WixShellExecTarget" Value="[#_10]" />
<CustomAction Id="LaunchApplication"
BinaryKey="WixCA"
DllEntry="WixShellExec"
diff --git a/Tools/ArdupilotMegaPlanner/Msi/wix.pdb b/Tools/ArdupilotMegaPlanner/Msi/wix.pdb
index 25a406bac4b77a5699544789c249ee4fa7883195..3942cebe49487abafe08697bb62fa8f20bc6f4df 100644
Binary files a/Tools/ArdupilotMegaPlanner/Msi/wix.pdb and b/Tools/ArdupilotMegaPlanner/Msi/wix.pdb differ
diff --git a/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs b/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs
index d79f36b40fdeb2c4c7cfbb8ae6392f8dddebd6e4..6e43e20b09a96b4d2b90b423012c6e91f3f39ce3 100644
--- a/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs
+++ b/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs
@@ -34,5 +34,5 @@ using System.Resources;
// by using the '*' as shown below:
// [assembly: AssemblyVersion("1.0.*")]
[assembly: AssemblyVersion("1.1.*")]
-[assembly: AssemblyFileVersion("1.1.64")]
+[assembly: AssemblyFileVersion("1.1.65")]
[assembly: NeutralResourcesLanguageAttribute("")]
diff --git a/Tools/ArdupilotMegaPlanner/bin/Release/ArduCopterConfig.xml b/Tools/ArdupilotMegaPlanner/bin/Release/ArduCopterConfig.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e90fae40cfe29cd13e042a768ec38068277fe659
--- /dev/null
+++ b/Tools/ArdupilotMegaPlanner/bin/Release/ArduCopterConfig.xml
@@ -0,0 +1,205 @@
+<?xml version="1.0" encoding="utf-8" ?>
+<AC>
+ <Item>
+ <HEAD>Stabilization:</HEAD>
+ <SUBHEAD>Angular Rate Control:</SUBHEAD>
+ <DESC>How much throttle is applied to rotate the copter at the desired speed.
+
+Adjust P by motor size
+Small: P = 0.145
+Med: P = 0.110
+Large: P = 0.090</DESC>
+ <FIELDS>
+ <FIELD>
+ <NAME>P</NAME>
+ <PARAMNAME>RATE_RLL_P</PARAMNAME>
+ <PARAMNAME>RATE_PIT_P</PARAMNAME>
+ <RANGEMIN>0.001</RANGEMIN>
+ <RANGEMAX>5</RANGEMAX>
+ <STEP>0.001</STEP>
+ </FIELD>
+ <FIELD>
+ <NAME>I</NAME>
+ <PARAMNAME>RATE_RLL_I</PARAMNAME>
+ <PARAMNAME>RATE_PIT_I</PARAMNAME>
+ <RANGEMIN>0</RANGEMIN>
+ <RANGEMAX>5</RANGEMAX>
+ <STEP>0.001</STEP>
+ </FIELD>
+ <FIELD>
+ <NAME>D</NAME>
+ <PARAMNAME>RATE_RLL_D</PARAMNAME>
+ <PARAMNAME>RATE_PIT_D</PARAMNAME>
+ <RANGEMIN>0</RANGEMIN>
+ <RANGEMAX>5</RANGEMAX>
+ <STEP>0.001</STEP>
+ </FIELD>
+ <FIELD>
+ <NAME>IMAX</NAME>
+ <PARAMNAME>RATE_RLL_IMAX</PARAMNAME>
+ <PARAMNAME>RATE_PIT_IMAX</PARAMNAME>
+ <RANGEMIN>0</RANGEMIN>
+ <RANGEMAX>40</RANGEMAX>
+ <STEP>0.1</STEP>
+ </FIELD>
+ </FIELDS>
+ <SUBHEAD>Dampening:</SUBHEAD>
+ <DESC>Resistance to angular acceleration
+
+A dynamic gain is applied so that the dampening only occurs at 100% when the control sticks are centered.
+
+When the sticks are fully deflected:
+1.0 = 0%
+0.5 = 50%
+0.0 = 100%</DESC>
+ <FIELDS>
+ <FIELD>
+ <NAME>Dampen</NAME>
+ <PARAMNAME>STAB_D</PARAMNAME>
+ <RANGEMIN>0.001</RANGEMIN>
+ <RANGEMAX>5</RANGEMAX>
+ <STEP>0.001</STEP>
+ </FIELD>
+ <FIELD>
+ <NAME>Dynamic</NAME>
+ <PARAMNAME>STAB_D_S</PARAMNAME>
+ <RANGEMIN>0.001</RANGEMIN>
+ <RANGEMAX>1</RANGEMAX>
+ <STEP>0.001</STEP>
+ </FIELD>
+ </FIELDS>
+
+ <SUBHEAD>Stabilize Control:</SUBHEAD>
+ <DESC>
+How fast the copter reacts to user or autopilot input.
+Higher = more aggressive control.
+Too high = slow wobbles
+ </DESC>
+ <FIELDS>
+ <FIELD>
+ <NAME>P</NAME>
+ <PARAMNAME>STB_RLL_P</PARAMNAME>
+ <PARAMNAME>STB_PIT_P</PARAMNAME>
+ <RANGEMIN>0.001</RANGEMIN>
+ <RANGEMAX>5</RANGEMAX>
+ <STEP>0.001</STEP>
+ </FIELD>
+ <FIELD>
+ <NAME>I</NAME>
+ <PARAMNAME>STB_RLL_I</PARAMNAME>
+ <PARAMNAME>STB_PIT_I</PARAMNAME>
+ <RANGEMIN>0</RANGEMIN>
+ <RANGEMAX>5</RANGEMAX>
+ <STEP>0.001</STEP>
+ </FIELD>
+ <FIELD>
+ <NAME>IMAX</NAME>
+ <PARAMNAME>STB_RLL_IMAX</PARAMNAME>
+ <PARAMNAME>STB_PIT_IMAX</PARAMNAME>
+ <RANGEMIN>0</RANGEMIN>
+ <RANGEMAX>50</RANGEMAX>
+ <STEP>0.001</STEP>
+ </FIELD>
+ </FIELDS>
+ </Item>
+ <!-- Loiter -->
+ <Item>
+ <HEAD>Loiter:</HEAD>
+ <SUBHEAD>Angular Rate Control:</SUBHEAD>
+ <DESC>
+How much angle is applied to make the copter accelerate to the desired speed.
+ </DESC>
+ <FIELDS>
+ <FIELD>
+ <NAME>P</NAME>
+ <PARAMNAME>LOITER_LAT_P</PARAMNAME>
+ <PARAMNAME>LOITER_LON_P</PARAMNAME>
+ <RANGEMIN>0.001</RANGEMIN>
+ <RANGEMAX>5</RANGEMAX>
+ <STEP>0.001</STEP>
+ </FIELD>
+ <FIELD>
+ <NAME>I</NAME>
+ <PARAMNAME>LOITER_LAT_I</PARAMNAME>
+ <PARAMNAME>LOITER_LON_I</PARAMNAME>
+ <RANGEMIN>0</RANGEMIN>
+ <RANGEMAX>5</RANGEMAX>
+ <STEP>0.001</STEP>
+ </FIELD>
+ <FIELD>
+ <NAME>D</NAME>
+ <PARAMNAME>LOITER_LAT_D</PARAMNAME>
+ <PARAMNAME>LOITER_LON_D</PARAMNAME>
+ <RANGEMIN>0</RANGEMIN>
+ <RANGEMAX>5</RANGEMAX>
+ <STEP>0.001</STEP>
+ </FIELD>
+ <FIELD>
+ <NAME>IMAX</NAME>
+ <PARAMNAME>LOITER_LAT_IMAX</PARAMNAME>
+ <PARAMNAME>LOITER_LON_IMAX</PARAMNAME>
+ <RANGEMIN>0</RANGEMIN>
+ <RANGEMAX>50</RANGEMAX>
+ <STEP>0.1</STEP>
+ </FIELD>
+ </FIELDS>
+ <SUBHEAD>Loiter Speed:</SUBHEAD>
+ <DESC>
+How fast the copter should move towards the target. A larger value means a faster return to center, but can cause the copter to oscillate around the target.
+
+A distance error of 100cm * P of .25 = 25 cm/s
+ </DESC>
+ <FIELDS>
+ <FIELD>
+ <NAME>P</NAME>
+ <PARAMNAME>HLD_LAT_P</PARAMNAME>
+ <PARAMNAME>HLD_LON_P</PARAMNAME>
+ <RANGEMIN>0.001</RANGEMIN>
+ <RANGEMAX>5</RANGEMAX>
+ <STEP>0.001</STEP>
+ </FIELD>
+ </FIELDS>
+ </Item>
+ <!-- WP Nav -->
+ <Item>
+ <HEAD>WP Navigation:</HEAD>
+ <SUBHEAD>Nav Rate Control:</SUBHEAD>
+ <DESC>
+ How much angle is applied to make the copter accelerate to the desired speed.
+ </DESC>
+ <FIELDS>
+ <FIELD>
+ <NAME>P</NAME>
+ <PARAMNAME>NAV_LAT_P</PARAMNAME>
+ <PARAMNAME>NAV_LON_P</PARAMNAME>
+ <RANGEMIN>0.001</RANGEMIN>
+ <RANGEMAX>5</RANGEMAX>
+ <STEP>0.001</STEP>
+ </FIELD>
+ <FIELD>
+ <NAME>I</NAME>
+ <PARAMNAME>NAV_LAT_I</PARAMNAME>
+ <PARAMNAME>NAV_LON_I</PARAMNAME>
+ <RANGEMIN>0</RANGEMIN>
+ <RANGEMAX>5</RANGEMAX>
+ <STEP>0.001</STEP>
+ </FIELD>
+ <FIELD>
+ <NAME>D</NAME>
+ <PARAMNAME>NAV_LAT_D</PARAMNAME>
+ <PARAMNAME>NAV_LON_D</PARAMNAME>
+ <RANGEMIN>0</RANGEMIN>
+ <RANGEMAX>5</RANGEMAX>
+ <STEP>0.001</STEP>
+ </FIELD>
+ <FIELD>
+ <NAME>IMAX</NAME>
+ <PARAMNAME>NAV_LAT_IMAX</PARAMNAME>
+ <PARAMNAME>NAV_LON_IMAX</PARAMNAME>
+ <RANGEMIN>0</RANGEMIN>
+ <RANGEMAX>50</RANGEMAX>
+ <STEP>0.1</STEP>
+ </FIELD>
+ </FIELDS>
+ </Item>
+</AC>
diff --git a/Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.pdb b/Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.pdb
index 5a6867043d00d88cb758ddf6a515c778d2c63fef..35c40b0005d42e10cb1057ac2b486d9ab461faca 100644
Binary files a/Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.pdb and b/Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.pdb differ
diff --git a/Tools/ArdupilotMegaPlanner/bin/Release/dataflashlog.xml b/Tools/ArdupilotMegaPlanner/bin/Release/dataflashlog.xml
index d7da77e2d0606644ab4b7ec6d51ad3551b6fcfe8..8a69dd14fb0dd46fc26f8ed77fe4610e6ad0617f 100644
--- a/Tools/ArdupilotMegaPlanner/bin/Release/dataflashlog.xml
+++ b/Tools/ArdupilotMegaPlanner/bin/Release/dataflashlog.xml
@@ -293,6 +293,14 @@
<F5>Output</F5>
<F6>Gain</F6>
</PID-122>
+ <PID-104>
+ <F1>Err</F1>
+ <F2>P</F2>
+ <F3>I</F3>
+ <F4>D</F4>
+ <F5>Output</F5>
+ <F6>Gain</F6>
+ </PID-104>
</AC2>
<!-- -->
<APM>
diff --git a/Tools/ArdupilotMegaPlanner/bin/Release/version.txt b/Tools/ArdupilotMegaPlanner/bin/Release/version.txt
index 29be746b7a25b330f363fa9dc1650dc2c49033f4..e70ff281d14bc411e307e003dedb8e6c52b5e6f0 100644
--- a/Tools/ArdupilotMegaPlanner/bin/Release/version.txt
+++ b/Tools/ArdupilotMegaPlanner/bin/Release/version.txt
@@ -1 +1 @@
-1.1.4485.13801
\ No newline at end of file
+1.1.4485.38920
\ No newline at end of file
diff --git a/Tools/ArdupilotMegaPlanner/dataflashlog.xml b/Tools/ArdupilotMegaPlanner/dataflashlog.xml
index d7da77e2d0606644ab4b7ec6d51ad3551b6fcfe8..8a69dd14fb0dd46fc26f8ed77fe4610e6ad0617f 100644
--- a/Tools/ArdupilotMegaPlanner/dataflashlog.xml
+++ b/Tools/ArdupilotMegaPlanner/dataflashlog.xml
@@ -293,6 +293,14 @@
<F5>Output</F5>
<F6>Gain</F6>
</PID-122>
+ <PID-104>
+ <F1>Err</F1>
+ <F2>P</F2>
+ <F3>I</F3>
+ <F4>D</F4>
+ <F5>Output</F5>
+ <F6>Gain</F6>
+ </PID-104>
</AC2>
<!-- -->
<APM>